JPS62193789A - Self-closing type pitch joint and rotary joint and multi-joint type manipulator, servo controller and control method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to industrial robots or computer-controlled manipulators, in particular articulated manipulators having an indefinite number of axes and which can be configured with kinematic redundancy. Concerning the configuration and control of a mechanical arm.

BACKGROUND OF THE INVENTION Industrial robot arms are designed based on several basic types. Industrial robots coordinate the form of mechanical linkages, i.e., the specific arrangement of structural elements and the joints that connect these elements, as well as the movement of the joints, to achieve linear movements and other controlled movements at tool points. They can be classified according to the control system required to form the route. In the most versatile and multi-functional manipulators, the linkage is constructed in the form of a six-wheeled ring, allowing complete control over the spacing and orientation of tools mounted at the ends of the manipulator.

One basic form of the manipulator employs a set of three sliding bodies connected by a prism shape or a sliding joint. These slides are arranged in a generally rectangular shape and position a second set of three rectangularly arranged rotation axes that determine the "wrist" of the device, ie the orientation of the tool. This configuration of the mechanism provides a generally linear working area.

A typical example of such a device is the IBMR810bot.

The "Cartesian" configuration of such devices has a number of notable advantages over other types. The most important advantages are:
This means that no coordinate transformation is required to perform effective controlled motion at the tool point. Instead, linear and circular interpolation of the positioning axes is sufficient.

A second common mechanical configuration is one in which the wrist is connected to two sliding bodies arranged at right angles and connected by a prismatic joint.

These slides are fixed at the base of the device to a pivot joint that rotates about a vertical axis. The operating area of such a manipulator is approximately cylindrical. Typical of such devices is the Prab Model FA robot.

In a general third mechanical form, the wrist is positioned in an appropriate space by a sliding body connected to a swivel joint by a prismatic joint, and the swivel joint is attached at right angles to a second swivel joint on the device base. It is of the type that is rotated about a vertical axis by means of a swivel joint. In theory, this "polar coordinate" form allows
A spherical working area is obtained. In practice, mechanical constraints generally make the effective working area spherical with a substantial conical cross-section. Typical of such devices include the Unima
There is a Unimate 1000 robot.

Arms in cylindrical and polar coordinate configurations require more precise motion control systems than arms in rectangular coordinate configurations. This is because coordinate transformation must be performed to perform linear motion at the tool point. Overall, however, manipulators that utilize one or more sliders connected at prismatic joints are associated with significant performance limitations. One is the relatively large weight and size and, as a result, the high power required to move and position a tool or part of a given mass within a workspace. Additionally, positioning slides often get in the way of other objects, such as parts, inside and outside the working area.

Among the above-mentioned types of manipulators, the rectangular coordinate form is
The components are often completely surrounded by large skeletal members of the positioning slide and support structure, resulting in a very spatially inefficient form of linkage. Of the various coordinates mentioned above, the polar coordinate configuration, which uses only a single sliding body, is the most efficient and does not interfere with the parts at all. To minimize space efficiency problems, the sliding body is folded when retracted;
Several polar configurations have been developed that are designed to alleviate the problem of part jamming. For example, in some embodiments, co-linear slide segments are telescopically telescoping.

This form is a feature of the Maker manufactured by U,S Robot Company. According to another embodiment, when extended, the thin-walled steel tube forming the slide is folded back into a flat cross-section so that it can be wound onto a drum. Typical of this device is the Martin Marietta
I have a NASA Viking Lander arm. However, the mechanical form of such a structure has a large number of prismatic joints to perform the pre-entering expansion and contraction movement, or the cross-section of the sliding body is extremely thin, resulting in poor static and dynamic performance characteristics. results in a relatively inferior result.

To improve manipulator performance and article jamming characteristics, linkage configurations have been developed that allow for highly efficient mechanical configurations. In this configuration, a series of rigid link pieces connected by pivot joints are used to position the wrist.

This is known as a pivoting or jointed arm manipulator, and the present invention also relates to this type of manipulator. In this type of general purpose manipulator, the wrist positioning mechanism generally comprises two links connected by a pivot joint, the end of one link being attached to a second fixed pivot joint in the same plane, and the end of one link being attached to a second pivot joint fixed in the same plane.
The pivot joint itself is mounted at right angles to a third pivot joint by which it rotates within the base about a vertical axis. This link #! A'lf
A manipulator that adopts one form is more similar to a human arm than the conventional structure described above, but since the linkage operates in a fixed plane, kinematically it is more similar to an E-backhoe than a human limb. ” performs a function similar to “. In theory, such a jointed arm linkage produces a spherical working area. Like cylindrical and polar manipulators, jointed arm manipulators require relatively complex coordinate transformations to achieve linear or otherwise controlled path behavior at the tool point. Requires controller. The main advantage of jointed arm manipulators is that when the arm linkage that positions the wrist is retracted, this link am folds, so the arm is relatively compact for a given working area, and It is lightweight for the load of .

Two different mechanical implementations of the jointed arm configuration have been adopted in the industry. In one embodiment,
Actuators for driving a number of arms and wrist joints are mounted at a distance from the joints themselves. In such a configuration, a "shoulder" mounted motor and reducer transfers force to the joint through the action of a four-bar linkage, a pushrod and bellcrank, or a chain, timing belt, or other "key" mechanism. to communicate. An example of such a device is the ASEA IRD
There are 60 bots. This configuration has the advantage that relatively high profile and heavy motors, drive means, and velocity feedback mechanisms do not need to be packaged with and supported by a more distal arm structure. Therefore, the motor output for a predetermined load can be reduced. Nevertheless, many performance limitations are associated with the drive train used to transmit the force to the remote joint itself. The range of motion of the joint is
Constrained by variations in the geometrical proportions or eccentricity of the power transmission mechanism, the working area of the arm assembly is often limited to a relatively narrow, donut-shaped area. The transmission mechanism also exerts large inertial forces, compliances on the drive train, impairing its mechanical accuracy and impairing its static and dynamic performance. Furthermore, since the transducers used to measure the position of the tool point are often mounted at the transmission initiation section, the compliance and mechanical inaccuracies of the transmission mechanism significantly reduce the accuracy of the device.

In a typical second embodiment jointed arm linkage configuration, substantially all of the actuators that drive the arm and wrist joint are mounted on or within the arm structure proximate to the joint. In some cases, the actuator is mounted directly on the joint;
In other cases, it is positioned proximate to the "internal" link piece. This arrangement solves the problem of restricting the joint's movable distance, and as a result,
This type of mechanism creates an effective working area that approximates a sphere. Jointed or link-mounted drive mechanisms can also reduce or eliminate problems due to inertia and compliance associated with power transmission. An example of a darning device is the Unimation PUMA6
There are 00 robots.

Jointed arm configurations offer advantages over rectangular or polar configurations in terms of maneuverability, working area, and overall sophistication.
Although efficient, it requires a time-consuming and careful coordinate transformation and a more precise controller capable of positioning the tool point.

The relatively complex and expensive computer control systems required for precise, tool-path adaptive control in joint-arm manipulators make it difficult for the specific linkage configurations employed in many common arm mechanisms. have a big impact.

The construction of the linkage is generally such that it simplifies coordinate transformations and can reduce the number and speed of required calculations. For example, common jointed arm linkage configurations do not use "offset" pitch joints that significantly complicate coordinate transformations. Therefore, by imposing special constraints on the form of the linkage, a clear numerical representation (ie, a closed form, analytical representation) for the coordinate transformation can be obtained and the control system can be simplified.

However, the above-described attempts to impose constraints on the mechanical configuration in order to improve the efficiency of the control system have several drawbacks. Linkage configurations that provide an unambiguous solution to the conversion equation are often not optimal in terms of performance and cost. Furthermore, explicit representation cannot be easily adjusted for mechanical inaccuracies in the manipulator. Furthermore, it is questionable whether any closed-form solution exists for the transformation equation of any redundant manipulator. Additionally, all jointed arm manipulators have a condition known as singularity. Conventional control systems and manipulators have portions of their operating areas that have inherent "quirks" that prevent effective operation of the controller. Conventional controllers generally cannot operate efficiently if a singularity exists within the operating region because the equations used for motion control do not have any mathematical solution to the singularity. Thus, although the mechanical configuration is affected by simplifying the mathematics involved in manipulator control, the problems associated with numerical control still exist. According to the present invention, an optimal mechanical configuration is possible without being restricted by numerical complexity, and
By adopting an iterative control method, coordinates can be transformed, redundant,
Mathematical issues such as singularity and mechanical imprecision can be addressed.

In addition to the four basic types of general-purpose manipulators mentioned above (all of which have rough edges at the tool point), many other link mechanism types have been developed for special-purpose machines. In the design of each arm for such specialized machines, attempts have been made to employ linkage configurations having the minimum number of driven joints necessary to accomplish the particular task. Such efforts can result in significant cost savings by reducing the number and size of structural components, motors, power supplies, servo feedback mechanisms, and reducing the complexity of the required control system. . Dedicated manipulator designs have been developed for relatively simple kinematic functions, such as loading and unloading parts on lathes. One type of manipulator employs a two-axis linear coordinate mechanism in which the first sliding body is mounted parallel to the centerline of the lathe main shaft. Another type of general manipulator uses two links connected at a pivot joint in addition to one short sliding body to handle short parts fixed with a chuck. Because of their unique and special mechanical configuration, none of the manipulators described above require the use of a controller to perform coordinate transformations. In both types of manipulators, when each joint is driven independently in the proper order, the form of the linkage itself provides a tool path suitable for a given application.

Such a configuration allows the joint to eliminate the need for analog servo control circuitry.

A second example is an M in a factory where there is no need to control the rotation of the welding tip around its axis and a three-axis arm with a two-axis wrist can therefore provide sufficient control of the tool.
There are manipulators used in large models for IG welding work. There are many other types of manipulators that are ideal for specific tasks or classes of work. In many cases, a smaller configuration of tools is employed, with the dimensions of the links and/or slides, and their load capacities, tailored to the particular application. Therefore, such specialized applications require creative designs.

In addition to the above, conventional manipulator designs include:
There are a number of significant limitations and drawbacks.

The joint-type arm manipulator is equipped with 6 swivel joints and can obtain a rough surface at the tool point.
Although more efficient than other general purpose linkage forms, it is significantly less maneuverable and dexterous than the biological analogues it would be ideal to imitate, particularly the human arm or elephant trunk.

As mentioned above, such a jointed arm device acts similar to a backhoe from a kinematic point of view, with the arm linkage mechanism being
Acts in a fixed plane rotated about two major vertical axes. Many of these types of devices have a single combination of joint angle and associated arm configuration that establishes a predetermined position and orientation of the tool. Also, some of the above types of devices establish 43 the predetermined position and orientation of the tool by means of two different arm configurations. An example of a device that allows two arm configurations for a single tool point location is the Unimati
There is on PUMA600. In this device, the swivel joint remains in a fixed position and can be placed either on the "upper" or "lower" side of the "elbow" joint. Regardless of this configuration, if for a given position of the tool, an obstacle in the work space or the part itself obstructs the arm piece, the arm cannot reach the tool point without colliding. Unlike the human arm, such conventional jointed arm manipulators do not have sufficient degrees of freedom to reach around obstacles. This constraint is illustrated in FIG. The human arm is considered to have upper skin from the shoulder to the waist, providing a certain range of elbow heights and providing an arm form that matches a predetermined hand position and orientation. Elephant trunks that are larger than Cerro Mountain Hide have a more complex shape and are capable of ``snake movement'' between objects. Many automated tasks require human manual dexterity. There are also cases where a larger degree of freedom is required. The lack of arm maneuverability and tool handling dexterity of conventional general-purpose computer-controlled manipulators is a significant limitation in the performance and suitability of these manipulators for numerous applications.

Adding one or more "redundant" joints to a manipulator has a number of significant advantages, other than improved maneuverability. Just as the degrees of freedom allow the arm to change shape and provide a means to reach around the object, the arm can also change shape to ensure the most even distribution of torque or velocity at each arm joint. The joint can be arranged as shown in the figure. While lifting heavy objects, humans change the configuration of their arms so that minimal forces and moments are applied to each joint. Humans try to maximize ``leverage'' by exploiting the redundancy of their arms. In the case of Muroyamahide's jointed arm, it operates within the same plane like a backhoe, so it is not possible to change the shape of the arm and adjust the distribution of force and torque. For this reason, the lifting capacity of the mechanism at a particular point within its working area and at different arm configurations is 2-3
Since only the joint takes part in the lifting action, it becomes unduly small. On the other hand, a kinematically redundant manipulator is
One form of joint may not be able to lift a given load, but another form may, and the arm may change form accordingly. Similarly, when moving at high speeds, the maximum tool point velocity that a mulch arm can achieve is ultimately determined by the maximum velocity of one joint at any point in the trajectory path.

In the case of the Muroyamabark arm, the operating conditions at any point in the path are not equal for all joints, and furthermore, the shape cannot be changed and the distribution cannot be adjusted. Therefore, by adding redundant joints, the efficiency of the manipulator is significantly increased, increasing the load and tool forces for a given drive force and arm length, and also increasing the speed of the tool point. I can do it.

Another problem inherent in the Muroyama skin arm that can be alleviated by kinematic redundancy relates to joint travel limitations. In many mechanical embodiments of jointed arms, the swivel joint rotates more than 360°,
There are no, if not no, very few. Many typical joints do not rotate more than 180 degrees. This restricts the arm from operating within a certain range.

For example, if a given motion path specifies the tool direction (
If the three axes are perpendicular to any straight line in the workspace and then perpendicular at some point in the straight line of the trajectory), one joint of the arm will reach its limit of movement and no longer move along the desired path. It does not move along. This is true even if other joints remain close to the center of movement.

Kinematic redundancy provides a means to redistribute the necessary motion in such a way that the full travel limits of the individual joints can be utilized, thus reducing the effective working area of the manipulator and dexterity for tool handling. Increase.

Many forms are possible for realizing kinematic redundancy in the manipulator mechanism. In practice, this can be achieved by adding one joint of any set of types 47 to any position of the Muroyamahide arm linkage. It is sufficient to provide two collinear pivot joints in series.

Real-time control of such additional degrees of freedom is not necessary to achieve kinematic redundancy. Conventional manipulators, which provide a smooth surface, are provided with a kind of primitive redundancy by means of simultaneous control means mounted on slides that index the arms into different fixed positions during work on the part. However, with Muroyamapi's conventional joint-type general-purpose arm manipulator, in order to achieve dexterity similar to that of a human arm, a swivel joint must be added between the shoulder "pitch" joint and the elbow "pitch" joint. , the axes of rotation of both joints can be moved out of the plane of each other. As a result, the elbow rotates and leaves the plane as shown in FIG. That is, it provides the freedom to "swivel" and avoid obstacles and reach a target point behind an object, as shown in FIG. In many popular jointed arm designs, such as the ASERlR60, the transfer linkage employed to transmit force to a distal arm joint incorporates such a rotating joint within the upper arm section. Although it is not impossible,
Have difficulty.

The kinematically redundant arm requires real-time control of sensation and interaction to achieve behavior similar to an "intelligent" human arm. In order to perform such adaptive control on the kinematic redundancy of the manipulator,
All seven or more joints must be actuated simultaneously and in a coordinated manner by a real-time motion planning controller in response to information about the internal state of the arm, higher control levels, and information from sensors at the "tip."

The motion controller must handle both trajectory planning and coordinated joint control.

The programmed target points must be converted in real time into a set of harmonized joint commands.

Conventional jointed arm robots also generally
There are significant performance limitations regarding the stability of the control of the manipulator and the accuracy of its operation.

Many designs fail to provide servo control techniques that achieve the high degree of accuracy, repeatability, and precision of motion necessary for applications such as metrology or small parts assembly.

Servo control systems for such manipulators have narrow operating bandwidths or cannot employ significant feedback control capabilities. As previously mentioned, some jointed arm designs have problems with stability and accuracy due to drive train compliance, structural compliance, and mechanical inaccuracies that cannot be effectively controlled by traditional machine tool servo control systems. There is a mechanical drawback in that the value is further reduced.

It is an object of the invention to provide a manipulator with an arm configuration suitable for both general purpose and various specialized applications. It is another object to provide a modular, easy-to-operate manipulator with standardized and interchangeable arm pieces that can be combined in a variety of ways to configure manipulators of various dimensions and load capacities. It is.

It is a further object to provide a self-sealing, durable manipulator that can operate in crowded, harsh and highly disinfected environments.

Yet another object of the present invention is to provide a general purpose manipulator with improved maneuverability, dexterity, and repeatability. More specifically, it is an object of the present invention to provide a manipulator and controller configured to operate in more than seven axes without the control problems associated with kinematic redundancy.

It is another object to provide a manipulator with improved accuracy and repeatability.

Furthermore, it is an object of the present invention to provide a manipulator and servo control means that improves the responsiveness of actuation and smoothness of movement, thus increasing tool path speed and accuracy of movement.

Additional objects, advantages, and novel features of the invention are described below, and in part, will be apparent to those skilled in the art from reading the following description or by practicing the invention. The objects and advantages of the invention will be realized from the apparatus and method that follow.

Means for Solving the Problems To achieve the above objects, the manipulator of the present invention comprises an electronic controller and a set of unitized joint drive modules that can be assembled in series to form an arm. It is equipped with This manipulator is based on an arm configuration design concept that allows the manipulator to be assembled into different configurations and made into a manipulator with three standardized joints (rotation, pitch, and lateral assembly joints) suitable for general and special purposes. It is.

Each rotation joint of the present invention is comprised of co-linear structural inner and outer shells adapted for relative rotation by a reduction gear assembly. Each pitch joint is arranged such that its rotation axis is substantially perpendicular to, and offset from, the axis of the rotation joint, and is driven by a reduction gear assembly of approximately the same form as that adopted for the rotation joint. It has two phase rotating parts. The present invention is generally designed in such a way that both the rotation joint and the pitch joint are connected in series with each other to provide many degrees of freedom and maneuverability as required for a particular application. The axis of rotation of the pitch joint is offset from the axis of rotation of the rotation joint. Each rotation joint rotates a minimum of 360 degrees. Due to the eccentricity and range of rotation of each pitch joint, adjacent rotation joints are folded and parallel to each other as shown in FIG.

Each pitch joint may be provided with an ear module consisting of a body and two parallel ears extending from the body. A case module is provided that includes a bell portion and a tubular portion extending from the bell portion, the tubular portion being attachable between parallel ears of the ear module. Drive means are provided for relative rotation between the case module and the ear module, and a resolver is provided at the maximum rotation radius to measure the relative rotation.

A clutch is also provided to prevent damage to the reduction gear and actuator due to overload.

Each rotation joint is provided with a structural inner shell that allows the pitch joint to be easily secured to an adjacent case module. Drive means are provided for relative rotation of the structural inner shell and outer shell, and a resolver is provided for measuring the relative rotation. An overload clutch will also be provided. The above configuration makes it possible to connect the rotary joint and the pitch joint in series, resulting in a self-driven, easily interchangeable multi-joint manipulator, which is necessary for hand applications.

A servo control mechanism is provided to stabilize the operation of a device such as the manipulator of the present invention. A servo control mechanism is provided that detects the driving force acting on the actuator driven member in response to the speed command signal and generates a feedback signal. The drive force feedback signal is compared to the command signal and the resulting signal is corrected to provide stability and optimal bandwidth for the servomechanism. Also,
Velocity and position feedback loops may also be provided.

The invention provides a number of advantages.

The configuration of independently driven, unitized arm sections allows the manipulator to be configured with any number of rotating axes, suitable for general and special purposes, using standardized joint modules and components. can do. This reduces the need for a complete design change if a customer requires a different form of manipulator than previously manufactured.

Furthermore, the joint configuration allows the manipulator to have greater visibility than usual.

This manipulator provides a spherical working area of approximately 90
These include those that use "three rotating wrists" that provide a spherical actuation area with a spherical notched cone. is more complete than the working area of most manipulators. There are also advantages to unitizing the joint. The joint is provided with attachment means that allow the joint to be easily attached to and detached from an existing manipulator. This allows a failed joint to be quickly and easily replaced. Therefore, remove the failed joint, completely disassemble it, and
During repair, it is possible to replace the joint with another joint and restore the manipulator to its original operating condition, so that the out-of-operation time of the manipulator can be significantly reduced. Additionally, this feature allows large users of the manipulators of the present invention to maintain a large number of manipulators by stocking relatively few standardized parts and joints.

In this exoskeleton structure, the main deflection load-bearing member of the rotating joint arm section is a thin-walled tube whose maximum dimension is an appropriate radius from the axis of rotation of the joint. As a result, the stiffness-to-weight ratio of the link cross section becomes an optimum value. The complete internal drive means, transducers and wiring of both the rotation and pitch joints are protected from damage and the temperature of these components can be controlled by internal ventilation. Furthermore, the exoskeletal structure requires fewer moving surfaces that must be sealed every one rotation joint and every two pitch joints.

This allows the internal drive means, transducers and wiring to be protected from contaminants, corrosive vapors and liquids.

In fact, by selecting appropriate seals and internal pressures, the device of the invention can also be used submerged.

Conversely, in semiconductor manufacturing plants where the working environment must be clean, easily sealed exoskeleton structures can be used to keep machine-generated contaminants inside the machine.

The pitch joint module's symmetrical bearing arrangement allows for a balance between bearing loads and structural loads, maximizing static and dynamic performance.

By mounting the resolver at the maximum radius position within each pitch joint and rotation joint module, the highest ratio between the joint and the resolver armature can be achieved. Since joint rotation is measured directly within a thermally stable mounting means, highly accurate and repeatable measurements can be made.

The dimensional relationship between the successive joints that make up the manipulator, including the dimension by which the pitch joint is eccentric from the rotation joint, allows the manipulator to have greater maneuverability, dexterity, and repeatability. Due to the ability of the controller to control this manipulator in a sensory responsive state and to support a form that is practically kinematically redundant,
As shown in FIG. 12, the manipulator can be configured to easily reach around objects and avoid obstacles. Furthermore, the offset of the pitch joint from the central axis of the machine poses mathematical difficulties for the controller, while the manipulator itself folds, making the arm of a given length and working area extremely compact. In summary, the effective operating area can therefore be expanded.

Unlike typical machine tool designs, the highly maneuverable manipulator servo controller of the present invention
Special care is required to avoid delays and inaccuracies in manipulator operation.

The servo control of the present invention uses feedback and correction techniques to improve the smoothness and precision of manipulator operation by eliminating mechanical roughness in the manipulator base.

Further advantages of the invention are described below, and will be understood by those skilled in the art from reading them or by practicing the invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention comprises an electronically controlled, articulated, humanoid manipulator arm. A typical form of this manipulator arm is shown in FIG.

The assembly structure is constructed by connecting arm parts, ie, "joints" extending from the base 1. Base 1 is the floor,
It can be attached to an overhead support structure, a mobile trolley, or other suitable support means.

The arm joints that make up the manipulator include rotation joint 2.6.10.14 and pitch joint 4.
．． There are two basic types: 8.12. A description of one pitch joint applies to all other joints, except for dimensions. That is, the manipulator arm can be constructed using any number of arm joints of the structure described herein. However, it may be desirable to modify the design of the end joint 2.14 to accommodate the dimensional constraints of a particular application or component.

The pitch and rotation joints are independently driven to provide relative rotation about their longitudinal axes as indicated by the arrows in FIG. In a typical assembly as shown in FIG. 1, the first arm joint adjacent to the base is a rotation joint 2. Each rotation joint rotates about its longitudinal axis. A typical configuration of the arm includes an end effector or tool 16 at the distal end of the arm.
It comprises a series of mutually disposed pitch joints and rotation joints leading to. As shown in FIG. 1, the rotation joint generally has a cross section that decreases in diameter toward the distal end of the arm. Similarly, each pitch joint that follows in the same direction is also generally reduced in diameter. In a typical pitch joint, such as pitch joint 8, the diameter of the collar 18 at the distal end is smaller than the diameter of the collar 18 at the proximal end. Although the arm joint of the manipulator tapers in the preferred embodiment from the proximal end to the distal end of the manipulator, this feature is not a requirement of the invention.

By rotating the various arm joints, the position and orientation of the tool 16 can be adjusted arbitrarily within the working area of the arm.

As shown in FIG. 1 and explained in more detail below, the arm joint is essentially an exoskeleton.

That is, the arm joint is primarily comprised of a tubular structure that provides the structural support necessary to carry the load at the tool location. Each arm joint is independently driven by its own internal motor and reduction gear assembly housed within the external skeleton structure. This outer framework structure provides a high stiffness-to-weight ratio of the arm.

The outer frame structure also protects the drive mechanism and, in a preferred embodiment, the wiring that runs through the interior of the structure from joint to joint. Furthermore, the outer framework structure can air cool each drive motor, if necessary, by a single air source located at the base 1 of the arm. Exoframe structures can also be sealed and used underwater, or forced ventilation and used in heavily contaminated environments.

FIG. 2 is a diagram showing the operating area of the manipulator arm of the present invention. As shown in the figures, each pitch joint 4.8 and 12 is offset from the longitudinal axis of the extended arm with the axes of the rotation joints being colinear. This offset allows the manipulator arm to be folded or fully extended.

This design feature provides a generally spherical working area similar to the human arm.

FIG. 3 shows a method of connecting successive arm joints to form a manipulator in accordance with the present invention. As described in more detail below, each rotation joint and each pitch joint has abutment surfaces at each end. 30 and an inclined protrusion 32. Additionally, the wiring necessary to accommodate successive arm joints is provided internally and connected to mating wiring joints 34 at each end of the arm joint. These features allow the arm to be easily assembled and reduced in diameter toward the distal end with a continuous arm joint.

To connect adjacent arm joints, both joints are brought into close proximity and the wiring joints 34 are engaged.

Next, the contact surface 30 is brought into contact. Finally, attach the clamp ring 36 to the inclined overhang 3 of the adjacent arm joint.
2 and tighten the ring 36.

In this way, successive arm joints are structurally linked and the wiring necessary to drive the more distal arm joints is connected. This clamping mechanism, described in more detail below, provides the advantage of constantly applying a uniform clamping force along the periphery of the abutment surface 30 using only a single bolt or other fastener. .

Thus, successive arm sections can be quickly removed, repaired, and replaced with stock arm sections.

Those skilled in the art will recognize that other fastening means may be used between successive joints.

For example, each abutment end may be provided with a radially outwardly extending flange defining a series of holes suitable for receiving bolts or other suitable fastening means. However, such a flange becomes an obstacle when folding the manipulator.

The exoskeleton structure and independent actuation means for each joint offer a number of advantages. As previously discussed, a failed arm section can be quickly removed, repaired, and replaced with an identical stock arm section. These features, along with decreasing overall dimensions from the proximal end to the distal end, allow the manipulator to be interchangeable over a range of sizes and strengths, as shown in FIG. In this manner, a series of independently driven unitized pitch and rotation joints can be manufactured and assembled in a variety of ways into manipulators of a wide range of sizes and strengths. More importantly, the number of consecutive arm joints that can be combined into a particular Maro 4-nibrator configuration can vary. For example, for a simple operation, the number of arm joints may be three, and the tool may only be attached to the end of the third arm joint. If more maneuverability is required, the manipulator arm of the present invention may have any number of consecutive arm joints. As explained below, preferred embodiments of the invention utilize seven or more arm joints. By using seven or more arm joints, it is possible to construct a manipulator that can reach around obstacles and position the tool in a particular position and orientation in a variety of ways. The use of more than seven arm joints, if properly controlled, can create a condition known as "redundancy" which provides a number of operational advantages.

Referring to FIG. 5, a plan view of a portion of a manipulator arm is shown with the axes of the rotation joints extending co-linearly. The rotary joint 6.10 has a cross-section that decreases in diameter in the direction of the distal end of the manipulator. A pitch joint 8.12 is positioned between each rotation joint and each rotates about its central axis 40.42.

The plan view of the pitch joint 8 in FIG. 5 shows the construction of the pitch joint and its method of operation.

As previously mentioned, the joints are provided with a collar 18 at the distal end and a collar 20 at the proximal end, each of a diameter suitable to receive the adjacent rotational joint 10.6. Each pitch joint as a whole consists of ear module 4.
It consists of two halves, 4 and case module 46, connected by bearings and drive means. The ear module 44 and the case module 46 rotate relative to each other around the central axis 4o. Drive means for the pitch joint are housed within the pitch joint. This drive means comprises ears 48.50 of ear module 44.
The motor cover 52 and drive cover 54 extend in the vertical direction and are sealed by a motor cover 52 and a drive cover 54.

FIG. 6 is a side view of the structure shown in FIG.
．． The state of deviation from 52 is more clearly shown.

Referring now to FIG. 7, a partial cross-sectional view of the structure taken along line 7--7 of FIG. 5 is shown. pitch joint 8
is shown diagrammatically with its central axis 40. Rotating joint 10 is comprised of two basic parts: a drive inner housing assembly 64 and a skin 66. Drive inner housing assembly 64 is rigidly secured to case module 46 of pitch joint 8 by clamp ring 36 . The skin 66 is attached to the drive inner housing assembly 64 on bearings 68,70. When motor 72 of housing assembly 64 is energized, skin 66 rotates relative to housing assembly 64 and case module 46 .

Referring to the drive inner housing assembly 64, a drive inner housing 65 is provided with an outer bearing generally indicated at 7 degrees mounted on the outer bearing surface of the housing 65. Moreover, between the housing 65 and the outer plate 66,
An annular seal 71 is provided, and a passage 73 for passing wiring is also provided. The inner raceway of the bearing 70 is clamped to the drive inner housing 65 by an inner bearing clamp 74 . Inner bearing clamp 74 is removably fastened to drive inner housing 65 by a series of bolts or other suitable fastening means. The inner bearing clamp 74 has an annular skirt portion 78 adapted to fit snugly into an annular groove formed in the case module 46 of the pitch joint 8. The inner bearing clamp has an inclined bulge 80 on its outer periphery. Similarly, case module 46 includes an angled bulge 82 at its outer periphery adjacent the abutment surface between case module 46 and inner bearing clamp 74 . These inclined protrusions 80, 82 are connected to the clamp ring 3.
6 can be accepted. When the clamp ring is applied and tightened, the inner bearing clamp 74 and drive inner housing 65 are rigidly secured to the case module 46.

Towards the distal end of the inner housing 65, on the inside thereof there are two stepped annular surfaces 84, 86 for receiving a rigid spline 88 and a motor mounting plate 90. These rigid splines 88 and motor mounting plate 90 are
It is rigidly fixed to the drive inner housing 65 by a series of bolts 92 . Motor mounting plate 90 includes a central hole suitable for receiving a motor drive shaft 94. The motor mounting plate 90 is also provided with a stepped groove 76 adapted to receive the collar of the motor 72. The motor mounting plate 90 is further provided with a hole, into which a suitable fastener is inserted, and the motor 72 is attached to the motor mounting plate 9o.
It can be rigidly mounted on. Attached to the end of the motor shaft 94 is a waveform generator 100 that is an integral part of the harmonic drive assembly. The waveform generator 100 and harmonic drive assembly will be described in more detail below.

Near the distal end of the drive inner housing 65 is an annular inner seal 102 on its inner surface. Similarly, on the outer surface is an annular bearing seat 104. Inner seal 102
lubricates the inside of the harmonic drive body. An outer bearing 68 at the distal end maintains spacing and allows relative rotation of the housing 65 and clutch ring 110.

Inside the drive inner housing near the distal end is a harmonic drive assembly. This harmonic drive assembly is
This is a conventional commercially available product. The harmonic drive assembly includes a flexible spline 112 positioned such that the external gear is axially aligned with the teeth of rigid spline 88 . The closed end of the flexible spline 112 is connected via a bolt 114 to
It is rigidly attached to harmonic drive collar 108. The harmonic drive collar 108 is provided with a short centering axis 116°118. Centering short axis 1
16 aligns the flexure spline 112 so that the flexure spline 112 can be secured to the harmonic drive collar 108 by the bolt 114. Centering short axis 1
18 at the distal end of the harmonic drive collar 108;
Performs similar functions. Harmonic drive color 108
A clutch plate 120 is rigidly attached to the harmonic drive collar 108 by bolts 114 around the centering short axis 118 of the clutch plate 120 . harmonic drive color 1
08 also has a threaded central hole 1 which receives a sealing plug.
22 for holding lubricating oil and providing access for adjusting the waveform generator 100.

A clutch plate 120 extends distally and flares radially outwardly and includes an annular ramp 124 and a radial abutment surface 12.
Provide 6. Clutch ring 110 also provides a distal region with a corresponding annular ramp ridge 150 and cooperating radial abutment surfaces. The contact surfaces 126 and 127 of the clutch plate 120 and the clutch ring 110 abut, attaching the ring clamp 128 to the clutch plate 120 and the clutch ring 110, and attaching the ring clamp 128 to the clutch plate 120 and the clutch ring 110.
30, this assembly directs the rotational movement of the motor 72 and harmonic drive assembly to the outer skirt 66.
Provides a clutch that transmits power to the vehicle. This will be explained in more detail below.

Clutch ring 110 has several strain gauges mounted on surface 129 to provide feedback control of arm motion.

Towards its proximal end, the clutch ring 110 provides an annular bearing seat for the outer raceway of the distal outer bearing 68. This outer raceway is secured by an annular bearing clamp 132 and a plurality of bolts 134 or other suitable fasteners.
It is held on the bearing seat of clutch ring 110. The clutch ring 110 has circular arc holes (only two are shown 13
6). These arcuate holes provide space for internal wiring to pass from joint to joint. The outer periphery of the clutch ring 110 is the annular bolt edge 13
It has 8. This bolt edge 138 includes a number of holes suitable for inserting a series of bolts 140.

The bolt 140 passes through the clutch ring 110 and the outer plate 66
and engages with the flange 67 at the proximal end of the distal outer plate 69.

The outer shell of the rotation joint may consist of a single outer skin 66 or may be provided with a distal outer skin 69. In a preferred embodiment, the cross-sections of the skin 66 and the distal skin 69 increase in the direction of the proximal end of the rotation joint 6. A bearing seat 144 is provided at the proximal end of the inner diameter. The outer raceway of the bearing 70 is connected to a series of bolts 148.
It is held on the bearing seat 144 by an annular outer bearing clamp gear 146 which is rigidly attached to the outer plate 66. An internal gear 150 is formed on this clamp gear 146 . The internal gear 150 is adapted to mate with an anti-backlash gear 152 extending through the internal bearing clamp 74 and an arcuate hole (not shown) in the drive housing 65.

As an additional function, outer bearing clamp gear 146 provides a wear surface for tube seal 154. Pipe seal 154
are held in place by grooves formed in the distal surface of the inner bearing clamp 74.

In addition to the features described above, the inner bearing clamp 74 is formed with a resolver mounting surface 156. The resolver mounting surface 156 is provided with a hole adapted to receive a standard commercially available resolver 160 mounting flange and pilot 158. The resolver 160 has a clamp 162
is held in the mounting hole by the An anti-backlash gear 152 is attached to the resolver shaft by a clamp 164. This attachment allows the resolver to measure the relative rotational position of the drive housing 65 and the skin 66, 69.

In a preferred embodiment, motor 72 includes a brake and an optional speedometer. In operation, energizing motor 72 causes waveform generator 100 of the harmonic drive assembly to rotate within flexible spline 112 . This movement creates a counter-rotational movement within the flexible spline 112, and this rotational force is transmitted to the rigidly mounted harmonic drive collar 108. The rotational movement is
It is transmitted to the clutch plate 120 via the collar 108. The clutch assembly prevents overloading the harmonic drive assembly. When the torque load acting on the rotating joint exceeds the torque capacity of the harmonic drive assembly,
The tightening force of the ring clamp 128 is set so that slippage occurs between the clutch plate 120 and the clutch ring 110. When the torque load is below this limit, the clutch assembly transfers the rotational motion of the harmonic drive assembly to the clutch ring 110 and ultimately to the skin 66.

As mentioned above, this relative rotation between the drive inner housing assembly 64 and the outer skin 66 assembly is supported by the outer bearing 70 and the outer diameter bearing 68. As the outer plate 66 rotates relative to the drive inner housing assembly 64, the outer bearing gear clamp 146 rotates relative to the position of the resolver 160. Outer bearing gear clamp 146 and backlash prevention gear 1
The resolver shaft 166 rotates due to the side alignment of the gears 52.

In this manner, the resolver 160 can be used to measure the rotation of the rotation joint 10 and the relative rotational position of the skin 66 with respect to the drive inner housing 65.

At the distal end of the distal skin 69 is an annular abutment surface 167, an angled bulge 168, and an inner annular lip piece 172.

As shown in FIG. 5, the ear modules 170 of the pitch joint 12 include identical annular abutment surfaces 169 and opposing slanted lobes 171. The inner diameter of the ear module 170 is such that it can fit closely into the lip piece 172. When ear module 170 and skin 66 are engaged and distal ring clamp 174 is applied, ear module 17
0, ring clamp 174, and distal skin 69 are rigidly connected.

Referring now to FIG. 8, a partial cross-sectional view of pitch joint 8 is shown. Similar to rotation joint 10, pitch joints 1-8 include two main structural parts that rotate relative to each other. These relatively rotating parts are the ear module 44 and case module 46 also shown in FIG.
It is. As shown in FIGS. 3, 5, and 6, the ear module 44 of each pitch joint is disposed within the manipulator arm assembly closest to the proximal end of the manipulator arm, while the case module 46 is located closest to the distal end of the manipulator arm. Thus, for simplicity, the pitch joint is comprised of a fixed ear module 44 and a rotating case module 46.
It appears to be working together.

As the name suggests, the ear module 44 includes motor ears 17 that extend outwardly toward the distal side of the pitch joint.
6 and drive tool 178. Both ears 176, 178 are arranged in parallel planes parallel to the rotation axis of the connecting rotation joint 6.10 (see also FIGS. 5 and 6).

Each ear 176,178 includes a hole suitable for receiving an inner raceway support assembly of the bearing.

Referring first to the motor side of the pitch joint (bottom of FIG. 8), details of the bearing support assembly of the motor ear 176 are shown. The motor ear 176 receives a tight-fitting inner bearing clamp 180. The motor-side inner bearing clamp 180 has a radially extending flange 1 that abuts the outer surface of the motor ear 176.
It is equipped with 82. Spaced holes are formed in the flange 182 and bolts 184 are inserted and screwed into tapped holes along the circumference of the holes in the motor ears 176. The motor-side inner bearing clamp 180 also includes an annular hole for receiving a bearing bolt 186. These bolts pull together an inner bearing clamp 180 on the motor side and an outer bearing collar 188 on the motor side.

The inner bearing collar 188 is provided with an annular bearing seat 190 . The inner raceway on the motor side is seated on the bearing seat 190 and is tightened into position by bolt force, and is connected to the inner raceway on the motor side and the inner bearing clamp 1 on the motor side.
Holds 80 comrades. The inner surface of the motor-side inner bearing collar 188 has a stepped surface suitable for receiving an external gear 194. This external gear 194 is held on the motor side inner bearing collar 188 by bolts or other suitable means (not shown).

Next, referring to the drive side, a similar bearing mounting structure is shown. The drive side ear 178 includes a hole suitable for receiving the intermediate surface of the inner bearing clamp/clutch 196. The inner bearing clamp/clutch 196 is connected to the drive ear 17
The flange 198 has spaced holes suitable for receiving a number of bolts that fit into threaded holes along the periphery of the 8 center hole. Inner bearing clamp/clutch 19
6 is also formed with an internal row of holes suitable for receiving bolts 202 that fit into tapped holes in the mating inner bearing collar 204 on the drive side. Drive side inner bearing collar 204
is equipped with a bearing seat 205 on its outer surface. The inner raceway of the bearing 206 is mounted on the bearing seat 205,
The bolt 202 is held tight between the drive-side inner bearing collar 204 and the inner bearing clamp/clutch 196 by force. Furthermore, the inner bearing collar 204 on the drive side is provided with an engagement surface 207 on the outer diameter near the inner end of the collar. This engagement surface 207 is suitable for receiving an annular seal 208. The end of the inner bearing clamp/clutch 196 includes a flat abutment surface 197 and an angled ledge 210. The flat annular abutment surface 197 is adapted to engage the same abutment surface 215 of the harmonic drive clutch plate 214 and the sloping ridge 212 . A ring clamp 216 is secured on the ramps 210, 212 and provides a clutch mechanism similar to that in the rotation joint of FIG. Surface 21 of inner bearing clamp/clutch 196
1 is equipped with several strain gauges for feedback control of arm motion.

In addition to the angled ledge 212 , the harmonic drive clutch plate 214 includes a centered short shaft 218 of an outer diameter that substantially engages the adjacent inner diameter of the inner bearing clamp/clutch 196 . The harmonic drive clutch plate 214 has bolts 2
It has an arcuate row of holes for receiving 20 holes. Clutch plate 214 further includes a central hole 22 suitable for a plug to hold lubricant and access waveform generator 280 for adjustment.
It has 2. Bolts 220 extend through clutch plate 214 and fit into tapped holes in harmonic drive collar 224 . Harmonic drive collar 224 has a central minor axis that engages central groove 217 of harmonic drive clutch plate 214 . These control surfaces ensure that the various components are centered. harmonic drive clutch plate 214 and harmonic drive collar 224 are engaged;
The flexural splines 226 of the harmonic drive assembly are held between the surfaces.

Referring now to the case module 46, there is provided a generally cylindrical tubular body that is slightly shorter than the distance between the ears 176, 178 of the ear module 44. Cylindrical case module 4
On the inner diameter of each end of 6 are bearings 192 and 206, respectively.
An annular bearing seat 47.51 for the outer raceway is provided.

The drive side of the inner diameter of the case module 46 is further provided with an annular seal contact surface 49 for the seat 208 . The outer raceways of motor side bearing 192 and drive side bearing 206 are held on their respective bearing seats by motor exception bearing clamp 228 and drive exception bearing clamp 230, respectively. The case modules also include a grooved area 232 opposite the ear module 44 for passing electrical wires.

The case module 46 includes an integral centering flange 234 that is neutrally elongated and provides a mounting surface.

A hole concentric with the rotation axis of the pitch joint 8 is formed in the center of the centering flange 234 . This concentric hole allows the motor mounting plate 238 to be received. Attachment plate 238 includes an annular array of holes suitable for receiving bolts 240 that fit into tapped holes in inner flange 234 of the case module. The inner flange 234 of the case module also has a surface 2 on its drive side.
42. Rigid splines 244 of the harmonic drive assembly extend through the gears and bolts 246 engage tapped holes in the inner flange 234 of the case module.
is rigidly attached to surface 242 by.

Motor mounting plate 238 includes a central hole suitable for passing a motor drive shaft 248 and a suitable seal 250. Motor mounting plate 238 includes a circular groove 252 on its motor side for receiving a centering collar 254 of motor 256. The motor mounting plate 238 is also
Drive motor 25 by threading a suitable screw or bolt 258.
Motor mounting 6 provides a slotted hole for rigid attachment to plate 238. Attached to motor shaft 248 is a waveform generator 260 that is part of a harmonic drive assembly.

In operation, motor 256 is energized to rotate motor drive shaft 248 and waveform generator 260 of the harmonic drive assembly. This allows the rigid spline 244 and the flexible spline 22 of the harmonic drive to
6 operates relative. Considering the ear module 44 as fixed, the rigid spline 244 is similar to the flexible spline 22.
6 and the case module 46 also rotates relative to the ear module 44. The bearings 192, 206 are
It is interposed between the ear module 44 and the case module 46 to allow rotation.

When the torque load acting on the pitch joint assembly overcomes the frictional resistance by the clutch assembly, the case module 46 and the ear module 44 remain fixed in their relative positions, and the harmonic drive clutch plate 214 is moved toward the inner bearing. Rotates relative to clamp/clutch 196.

Properly setting the clutch in this way can prevent damage to the harmonic drive assembly.

When the ear module 44 and the case module 46 rotate in phase, the shaft of the resolver 259 rotates. This is done by attaching the resolver 259 to the case module 46 and resolving the resolver shaft (
This is because the teeth of the anti-backlash gear mounted on the ear module 44 (not shown) engage the external gear 194 rigidly mounted on the ear module 44. This configuration provides a means for detecting the relative rotation of case module 46 and ear module 44 and their relative rotational positions.

As previously mentioned, the rotation and pitch joints can be connected in an alternating sequence to form a manipulator with any number of arm joints. Those skilled in the art will recognize that various arm configurations are possible for the present invention.

For example, in addition to the conventional configuration of interconnecting pitch joints and rotation joints, the pitch joint and rotation joint of the present invention may be used, and adjacent joints may be of the same type, i.e., pitch or rotation type. A manipulator can also be constructed by this. Also, 2
A simple yaw joint may be provided between the two pitch or rotation joints to provide motion about a vertical axis. Those skilled in the art will also recognize that any shape of "stationary" stationary joint may be used in the arm. Similarly, the perpendicular relationship between the axes of rotation of the rotation and pitch joints provided in the preferred embodiment may be varied. These various configurations can be easily realized by designing the exoskeleton of the arm parts and configuring each arm joint to operate independently.

Those skilled in the art will appreciate that the unitization of arm joints facilitates the construction of redundant manipulators, which have both operational advantages and disadvantages. Overall, the redundancy improves the operability of the cocoon plater. However, to be useful, the operation of the manipulator must be accurately controlled, and such control is quite difficult in a unitized design. As mentioned above, the servo control of the present invention is creatively configured to provide optimal dynamic performance and stability to the manipulator configured with unitized arm joints, and is controlled by a digital robot controller. The generated digital position signals are converted into analog signals and driven in rapid sequence.

Examples of such are U.S. Pat. No. 3,909,600;
．． No. 920,972, No. 4,011.437, No. 4,
No. 403,281 and No. 4,453,221, portions of which are incorporated herein by reference.

FIG. 1 is a block diagram of a typical control system 3 for an industrial robot. The control system 3 is an integral part of such a device. Without the control system 3, the manipulator arm has little practical value.

As shown in FIG. 1, a typical control system 3 can be thought of as comprising several separate components for illustrative purposes. A typical control system 3 includes an input/output console 5 to communicate with an operator or to accommodate various process or machine inputs.

Furthermore, a digital computer 11 may be provided which processes a user program stored in the data memory 9 in accordance with a control program stored in the program memory 7. This user program directs the operation of the manipulator. The control system 3 may further include an analog servo control circuit 13 for communication with the arm joint and the tool 16.

A number of peripherals can be added to interface the manipulator to a typical control system 3.

The actuation system of the control system 3 may comprise a mode control program. Such a program can switch the control system 3 between various modes such as automatic mode, teach mode, and manual mode. During the teach mode of a typical control system, an operator uses the input/output console 5 to activate the drive motors of the various arm joints to move the tool 16 along a desired path to a desired position and direction. I can do it. This allows the operator to set a number of "target points" on the path of motion that the manipulator can then follow. Although numerous other modes of operation are possible for the exemplary control system 3, only the automatic mode will be discussed since it is the primary mode relevant to the use of the present invention. The automatic mode of operation and the invention assumes that the operator has already "taught" the control system 3 of the manipulator the action to be performed and that the data memory 9 of the control system 3 has the appropriate information stored. Assume.

The purpose of the automatic mode of the typical control system 3 is to accurately control the position and orientation of the tool 16 within the space. Referring to FIG. 1, the purpose is to guide the movement of the manipulator and precisely control the position and orientation of the tool 16. This is done in a typical control system by providing a rapid succession of digital position error signals, each of which is the result of a complex computer system.

These signals are converted into analog signals and transmitted to each arm joint via the analog servo control circuit 13. By utilizing appropriate feedback and correction techniques, servo control circuit 13 provides a final sequential drive signal to each joint motor.

Referring again to FIG. 1, the analog servo control circuit 13 of the present invention receives analog position error signals and simultaneous velocity signals for each arm joint from the control system. The analog servo control circuit 13 simplifies the position error signal and utilizes the simultaneous speed and torque feedback signals described below to correct this signal, ensure stability, and Provides the final drive signal.

The electromechanical system of a manipulator such as the present invention is generally what is commonly referred to in the field of control technology as a second order, or higher order, feedback control system. Therefore, electromechanical systems are susceptible to operational instability if the physical characteristics of the system and the drive signals provided to the joint motor are not properly controlled.

In many servomechanisms similar to the present invention, the mechanical drive structure is very stiff and the resonant frequency is very high, so that the problem of operational instability is reduced to less than a significant degree.

The forward path of the control loop of such a system is compensated (e.g., by low frequency delay correction circuitry) so that the system operates as a first order system within the bandwidth of interest. This approach has the disadvantage of reducing system bandwidth and slowing the response of the servomechanism.

Such conventional servo control techniques are unsuitable for the manipulators described above. The mechanical drive system of the manipulator of the present invention is relatively flexible due to the visibility of the harmonic drive. Therefore, the resonant frequency of the mechanical drive system is relatively low.

Additionally, vibration and noise problems with harmonic drive systems are significantly lower than structures using other power transmission means. That is, in addition to the typical excitation source of the drive signal frequency and various mechanical roughnesses within the system, harmonic drives suffer from n cycles per motor revolution (where n is the waveform generator) as a result of inherent transmission deviations. A sinusoidal excitation is performed at a speed of 100 or 260 lobes.

Due to these features, typical servo control and correction mechanisms consisting of position feedback loops and velocity feedback loops, when applied to the structure of the present invention,
It will be ineffective and the response will be slow. Conventional control methods cannot control resonance, and in practice the problem of sinusoidal excitation in harmonic drive will become more pronounced.

To solve the above and related problems, the servocontrol system of the present invention utilizes a torque feedback loop in addition to velocity and position feedback loops, as well as a current loop provided as part of a current amplifier.

All three feedback loops are used simultaneously during normal operation, but the I-Luc loop can be used alone in manipulator applications where special forces must be applied to an object. Further, the torque loop feedback control of the present invention can be employed in almost any type of actuator-driven mechanical device, and is not limited to the above-described pivot manipulator. By using the torque loop as the innermost loop, the motor and harmonic drive configuration of each arm joint acts more as a torque generator than as a motion generator. The torque feedback loop only corrects the sinusoidal excitation of the structure that may be induced by harmonic drive, but the position and velocity feedback loops allow the position and velocity feedback loops to operate within a frequency range above normal, so the servomechanism is Improves responsiveness. The use of torque loops also significantly reduces the friction and compliance effects of the servomechanism, improving accuracy and repeatability of actuation. Furthermore, torque loop feedback improves the operating characteristics of the manipulator even when mounted on a flexible foundation.

FIG. 9 is a block diagram of the invention including servo control elements. Each block of this block diagram comprises the transfer function of the relevant mechanical, electrical or electromechanical element of the overall system, expressed as a Laplace transform. The symbols that directly correspond to the physical characteristics of the parts of the system that control operation are:

La - armature inductance Ra - armature resistance KL - motor torque constant Jm - motor and waveform generator inertia Bm - motor and waveform generator viscous friction Kv - voltage constant N - drive ratio Kd - drive spring constant - J + - joint Inertia B1 - Joint Viscous Friction Those skilled in the art will recognize that the same or equivalent correction system may be represented by block diagrams other than those shown.

For convenience, the portion of the block diagram shown within phantom line 322 can be considered to be the primary physical system of a single arm joint controlled by the servo controller of the present invention. Blocks 324 and 326 represent the armature inductance, resistance and torque constant of the drive motor, respectively. Block 328 depicts the inertial and viscous friction of the drive motor and harmonic waveform generator. Block 330 shows the harmonic drive gear ratio and velocity versus position integration time. block 3
32 indicates the spring constant associated with the harmonic drive, as well as other force transmitting components up to the point of applying strain gauges.

Blocks 334, 336, 338 and associated feedback lines illustrate the dynamic characteristics of a typical current amplifier/motor combination. Block 340 shows the shaft torque acting on the motor via the gear ratio.

As shown in the figures, the servo control of the present invention utilizes forward path correction. Corrections can also be made by positioning correction circuitry within the feed pack loop to achieve the same effect.

As previously mentioned, the servo control of the present invention
2, four feed pack loops are used: torque loop 344, velocity loop 346, and position loop 348. Torque crew 1344 indicates torque feedback. Block 350 shows the gain of the feedpack converter which is proportional to the torque of the drive at the point where the harmonic drive connects to the arm joint. Block 352 depicts the torque loop correction circuitry.

Block 354 represents the inertia and friction of the manipulator arm pieces. Velocity loop 1346 does not show arm segment velocity feedback. Pro-tsk 356 shows the gain of the velocity foot to clock converter which is proportional to the velocity of the arm section. Block 358 represents the velocity loop correction circuitry.

Finally, block 360 depicts the velocity versus position integration time. Block 362 is the gain of the position feedback transducer, and block 364 shows the gain in the forward path that defines the speed of response of the position loop. arrow 366
indicates the command position signal. The portion of the block diagram shown within phantom line 368 illustrates the functions performed within the peripheral portion of controller 15.

Those skilled in the art will appreciate the 1970 Prentice-Hall
I nc's Modern Control E n
Utilizing conventional correction design techniques, such as those described in Ogata's paper published in gineering, a number of alternative circuits and control mechanisms were developed to perform the torque, speed, position, and current feedback control of the present invention. You will realize that you can. Portions of the above articles are incorporated herein by reference. For example, if necessary, the values of the block diagram terms associated with each join's electromechanical system can be measured experimentally, and these values used to mathematically determine the appropriate correction network. be able to.

Alternatively, the frequency response and phase characteristics of the part of the system to be controlled can be measured experimentally and represented graphically in a Bode plot. These data will form the basis for designing an appropriate forward path or feedback path correction network. Also, other design methods can be adopted.

A preferred embodiment of the servo control circuit of the present invention is schematically shown in FIG. For convenience of explanation, the route map can be logically divided into several parts and shown with imaginary lines.

As shown in the block diagram of FIG. 9 and as shown in FIG.
Receives speed signals from the chip and torque signals from the strain gauges. The position error signal is provided to a differential amplifier shown within phantom line 370.

Similarly, speed and torque signals are provided to differential amplifiers and instrumentation amplifiers shown within phantom lines 372 and 374, respectively. Each differential amplifier 370, 372 has 37
6.378, and one or more resistors and capacitors arranged in a column. Instrumentation amplifier 374 is configured to provide greater gain than amplifiers 370 and 372 because the signals received from the strain gauges are extremely weak.

The signals provided by differential amplifiers 370, 372 are
It is shown in phantom line 384 and is fed to a velocity loop correction network adjusted by balance 386. balance 386
If the position error is zero, the circuit can be adjusted to make the output zero.

Velocity loop correction circuit W1384 is comprised of a specific type of delay network known as a lag-lead-lag network. A low frequency delay network consisting of differential amplifiers, resistors and capacitors can be provided to increase signal gain at low frequencies and thus improve the static stiffness of the manipulator.

This can be followed by a medium frequency advance network consisting of resistors and capacitors to improve the stability of the manipulator and reduce overshoot.

Finally, a high frequency delay network consisting of a differential amplifier, resistor and capacitor is provided as a filter.

Although a speed loop correction network consisting only of a lag network or a lag/lead network may be used, the illustrated lag/lead/lag network is not very effective.

The amplified torque signal from differential amplifier 374 is applied to a delay network consisting of a differential amplifier, resistor, and capacitor shown in phantom line 388 and adjusted by balance 390 . This network acts as a high frequency filter. The resulting signal is provided to torque loop correction circuitry shown within phantom line 394.

The torque loop correction circuit $11I394 is constructed by a particular type of lead network, known as a lead-lag network, preceded by a differential amplifier. A low frequency lead network comprised of resistors and capacitors receives the signal from the differential amplifier. This is followed by a delay network consisting of a differential amplifier, resistors and capacitors. The resulting signal is fed to a conventional current amplifier that provides the final drive signal to the joint motor. The purpose and effect of the torque loop correction network is to change the frequency response and phase characteristics of the open-loop forward path, avoid instability, and maximize the operating bandwidth of this innermost feedback loop. be. By maximizing the operating bandwidth of the torque cruise, the bandwidth of the velocity loop and the position loop can be made higher than normal, thereby increasing the response speed of the manipulator.

The values of the network elements are determined experimentally, mathematically, or by computer modeling methods.

These values are different for each structure that you want to control, so they are not described here.

The above description of preferred and alternative embodiments of the invention is presented for purposes of illustration only. These descriptions are not intended to limit the scope of the invention to only what is disclosed.

Of course, many modifications and adaptations are possible in light of the above teaching. The embodiments described above have been chosen to illustrate the basic idea and application examples of the invention, and therefore those skilled in the art will be able to utilize the invention in various embodiments and adapt them to suit the particular intended application. Various application examples can be devised.

[Brief explanation of drawings]

1 is a perspective view of a manipulator according to the invention, together with a diagram of the control system; FIG. FIG. 2 is a side view of a six-axis manipulator showing the operating area of the manipulator. FIG. 3 is an exploded perspective view showing the means for assembling the continuous arm joints of the manipulator. FIG. 4 is a half-diagrammatic diagram of a modular configuration according to the invention. FIG. 5 is a plan view of a portion of a manipulator arm with adjacent rotating joints extended in a colinear manner; Figure 6 is the 5th
FIG. 3 is a side view of the manipulator arm segment shown in FIG. FIG. 7 is a partial cross-sectional view of the rotating joint taken along line 6--6 of FIG. 8th
The figure is a partial elevational view, partially in section, of the pitch joint taken along line 8--8 of FIG. FIG. 9 is a block diagram of a system including a manipulator, a digital controller, and a servo control circuit. FIG. 10 is a route diagram of the servo control circuit of the present invention. FIG. 11 is a diagram illustrating the operating limits of a typical connected arm manipulator. FIG. 12 is a diagram showing the operability characteristics of the present invention. FIG. 13 is a diagram illustrating the ability of the present invention to ``swivel'' the ``elbow'' of the manipulator from a fixed operating phase. and FIG. 14 is a diagram illustrating the function of adjacent rotating joints of the present invention when folded into parallel positions. 1...Base 2.6.10.14...Rotating joint 4.8.12
... Pitch joint 16 ... Tool 18 ... Collar 20 for distal end installation ... Collar 30 for base installation ... Contact surface 32 ... Inclined overhang 34 ... - TiAm hand 36...Clamp ring 40.42...Center shaft (of the joint) 44...Ear module 46...Case module 48.50...Ear 52...Motor cover 54...Drive cover 64 ... Housing assembly 65 ... Housing 66 ... Outer plate 68, 70 ... Bearing 71 ... Annular seal 72 ... Motor 73 ... Passage 74 ... Bearing clamp 78 ... Annular skirt portion 80.82...Slanted overhang portion 84.86...Stepped annular surface 88...Rigid spline 90...Motor mounting plate 94...Motor drive shaft 100...Wave generation Container 102... Annular inner seal 104... Annular outer seal 108... Harmonic drive collar 110... Clutch ring 112... Flexible spline 114... Bolt 116, 118... Centering short shaft 120 ...Clutch plate 122...Threaded center hole 124...Annular inclined overhang 126...Radial abutment surface 128...Ring clamp 129...Surface 130...Annular inclined overhang Part 132... Annular bearing clamp 134... Bolt 138... Annular bolt edge 142... Inner annular lip piece 144... Bearing seat 146... Clamp gear 150... Internal gear 152... Backlash prevention gear 154...Pipe seal 156...Resolver mounting surface 158...Pilot 160...Resolver 162.164...Clamp 50...Ear (center axis) (5 people outside) FIG. II FIG, 12

Claims (1)

Claims: 1. an ear module having a bell portion and at least two parallel ears each extending from said bell portion and defining generally concentric holes; b a bell portion and from said bell portion; a case module extending and having a generally tubular portion positioned between the ears; c at least two bearings positioned to permit phase rotation of the ear module and the case module; d the ear module; or a reduction gear drive means rigidly fixed to either the case module; e rigidly fixed to the reduction gear means, capable of switching the rotational movement between the reduction gear means and either the ear module or the case module; f means for generating a signal in response to rotational force between the ear module and the case module; and g means for generating a signal in response to rotational movement between the ear module and the case module. A self-sealing pitch joint comprising means. 2. The reduction gear means comprises: a) a ring gear attached to either the ear module or the case module; b) attached to the other of the ear module or the case module, positioned within the ring gear, and arranged in the ring gear; 2. A self-sealing device as claimed in claim 1, comprising: a mating flexure spline; c. a waveform generator positioned within said flexure spline; and d. means for rotating said waveform generator. Type pitch joint. 3. a bell portion and an ear module each having a plurality of parallel ears extending from said bell portion and defining generally concentric holes; b a bell portion and extending from said bell portion between said ears; c. a plurality of bearings positioned to allow phase rotation of the ear module and the case module; and d. reduction gear drive means rigidly fixed to the case module. and e means rigidly fixed to said reduction gear means for switchably transmitting rotational motion between said reduction gear means and said ear module; f in response to rotational force between said ear module and said case module; and g) means for generating a signal in response to rotational movement between the ear module and the case module. 4. said reduction gear means comprising: a a ring gear rigidly mounted within said tubular portion of said case module; b a flexible spline positioned within said ring gear and meshing with said ring gear; 3. A self-sealing device as claimed in claim 3, comprising a spline and a waveform generator positioned within said ring gear, and d means for rotating said waveform generator relative to said ring gear. Type pitch joint. 5. said switchable transmission means comprising: a a clutch plate rigidly attached to said flexible spline; b a clutch member rigidly attached to said ear module; and c a phase rotation between said clutch plate and said clutch member. 5. A self-sealing pitch joint as claimed in claim 4, characterized in that it comprises adjustable means for generating frictional resistance. 6. said force signal generating means comprising: a a thinned walled portion provided at at least one position of said switchable transmission means; and b at least one signal generating means attached to said thinned walled portion and responsive to deformation. A self-sealing pitch joint according to claim 1, comprising: 7. said force signal generating means comprising: a a thinned walled portion provided at at least one position of said switchable transmission means; and b at least one signal generating means attached to said thinned walled portion and responsive to deformation. A self-sealing pitch joint according to claim 2, comprising: 8. said force signal generating means comprising: a a thinned walled portion provided at at least one position of said switchable transmission means; and b at least one signal generating means attached to said thinned walled portion and responsive to deformation. A self-sealing pitch joint according to claim 3, comprising: 9. said force signal generating means comprising: a a thinned walled portion provided at at least one position of said switchable transmission means; and b at least one signal generating means attached to said thinned walled portion and responsive to deformation. A self-sealing pitch joint according to claim 4, comprising: 10. The force signal generating means comprises: a) a thinned section provided at at least one position of the switchable transmission means; and b at least one signal generating means attached to the thinned section and responsive to deformation. A self-sealing pitch joint according to claim 5, comprising: 11. The operation signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshing with the reference ring gear. , and means for generating a signal in response to relative movement with a reference ring gear. 12. The operation signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshed with the reference ring gear. , and means for generating a signal in response to relative movement with a reference ring gear. 13. The operation signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshing with the reference ring gear. , and means for generating a signal in response to relative movement with the reference ring gear. 14. The operating signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshing with the reference ring gear. and means for generating a signal in response to relative movement with a reference ring gear. 15. The operation signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshed with the reference ring gear. , and means for generating a signal in response to relative movement with a reference ring gear. 16. The operation signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshing with the reference ring gear. , and means for generating a signal in response to relative movement with a reference ring gear. 17. The operation signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshing with the reference ring gear. and means for generating a signal in response to relative movement with a reference ring gear. 18. The operating signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshing with the reference ring gear. , and means for generating a signal in response to relative movement with a reference ring gear. 19. The operation signal generating means comprises: a) a reference ring gear attached to either the case module or the ear module; and b) attached to the other of the case module or the ear module and meshing with the reference ring gear. 11. A self-sealing pitch joint as claimed in claim 10, further comprising means for generating a signal in response to relative movement with a reference ring gear. 20, a structure outer shell, b a structure inner shell coaxial with the outer shell, c a plurality of bearings positioned to allow relative rotation between the outer shell and the inner shell, and d the outer shell or the inner shell. a reduction gear drive means rigidly fixed to either one of the shells; e. a reduction gear drive means rigidly fixed to the reduction gear drive means, for switchably transmitting the rotational motion of the reduction gear means to the other of the outer shell or the inner shell; f means for generating a signal in response to a rotational force between the outer shell and the inner shell; and 8 means for generating a signal in response to a rotational movement between the outer shell and the inner shell. A self-sealing rotary joint characterized by comprising: 21. The reduction gear means includes: a) a ring gear attached to either the outer shell or the inner shell; and b) a flexure attached to the other of the outer shell or the inner shell and positioned to mesh with the ring gear. 21. A self-sealing rotary joint as claimed in claim 20, comprising: a spline; c. a waveform generator positioned within said flexible spline; and d: means for rotating said waveform generator. . 22, a structure outer shell, b a structure inner shell coaxial with the outer shell, c a plurality of bearings positioned to allow relative rotation between the outer shell and the inner shell, and d rigidity in the inner shell. a reduction gear drive means fixed to the reduction gear drive means; e means rigidly fixed to the reduction gear drive means for switchably transmitting the rotational movement of the reduction gear means to the outer shell; and f rotation between the outer shell and the inner shell. A self-sealing rotary joint comprising: means for generating a signal in response to a force; and g) means for generating a signal in response to rotational movement between the outer shell and the inner shell. 23. The reduction gear means includes: a a ring gear mounted inside the inner shell; b a flexible spline positioned inside the outer shell and interlocking with the ring gear; c the flexible spline and the ring gear. 23. A self-sealing rotary joint as claimed in claim 22, comprising a waveform generator positioned within the ring gear; and d means for rotating the waveform generator relative to the ring gear. 24. The switchable transmission means comprises: a a clutch plate rigidly attached to the flexible spline; b a clutch member rigidly attached to the outer shell; and c a friction against phase rotation of the clutch plate and the clutch member. 24. A self-sealing rotary joint as claimed in claim 23, characterized in that it comprises adjustable means for generating resistance. 25. The force signal generating means comprises: a) a thinned section provided in at least one position of the switchable transmission means; and b at least one signal generating means attached to the thinned walled section and responsive to deformation. 21. A self-sealing rotary joint according to claim 20, comprising: 26. said force signal generating means comprising: a a thinned portion provided at at least one position of said switchable transmission means; and b at least one signal generating means attached to said thinned wall portion and responsive to deformation. 22. A self-sealing rotary joint according to claim 21, comprising: 27. said force signal generating means comprising: a a thinned portion provided at at least one position of said switchable transmission means; and b at least one signal generating means attached to said thinned wall portion and responsive to deformation. 23. A self-sealing rotary joint according to claim 22, comprising: 28. said force signal generating means comprising: a a thinned portion provided at at least one position of said switchable transmission means; and b at least one signal generating means attached to said thinned wall portion and responsive to deformation. 24. A self-sealing rotary joint according to claim 23, comprising: 29. The force signal generating means comprises: a) a thinned section provided at at least one position of the switchable transmission means; and b at least one signal generating means attached to the thinned section and responsive to deformation. 25. A self-sealing rotary joint according to claim 24, comprising: 30. The self-sealing rotary joint according to claim 24, wherein the signal generating means is a strain gauge. 31. The operation signal generating means comprises: a) a reference ring gear attached to either the inner shell or the outer shell; and b) attached to the other of the inner shell or the outer shell, interlocking with the reference ring gear; 21. A self-sealing rotary joint as claimed in claim 20, further comprising means for generating a signal in response to relative movement with the reference ring gear. 32. The operation signal generating means comprises: a) a reference ring gear attached to either the inner shell or the outer shell; and b) attached to the other of the inner shell or the outer shell, interlocking with the reference ring gear; 22. A self-sealing rotary joint as claimed in claim 21, further comprising means for generating a signal in response to relative movement with a reference ring gear. 33. The operation signal generating means comprises: a) a reference ring gear attached to either the inner shell or the outer shell; and b) attached to the other of the inner shell or the outer shell, interlocking with the reference ring gear; 23. A self-sealing rotary joint as claimed in claim 22, further comprising means for generating a signal in response to relative movement with the reference ring gear. 34. The operation signal generating means comprises: a) a reference ring gear attached to either the inner shell or the outer shell; and b) attached to the other of the inner shell or the outer shell, interlocking with the reference ring gear; 24. A self-sealing rotary joint according to claim 23, further comprising means for generating a signal in response to relative movement with the reference ring gear. 35. The operation signal generating means comprises: (a) a reference ring gear attached to either the inner shell or the outer shell, and (b) attached to the other of the inner shell or the outer shell and interlocking with the reference ring gear. 25. A self-sealing rotary joint according to claim 24, further comprising: means for generating a signal in response to relative movement with a reference ring gear. 36. The operation signal generating means comprises: (a) a reference ring gear attached to either the inner shell or the outer shell; and (b) attached to the other of the inner shell or the outer shell and interlocking with the reference ring gear. 26. A self-sealing rotary joint according to claim 25, further comprising means for generating a signal in response to relative movement with the reference ring gear. 37. The operation signal generating means comprises: a) a reference ring gear attached to either the inner shell or the outer shell; and b) attached to the other of the inner shell or the outer shell, interlocking with the reference ring gear; 27. A self-sealing rotary joint according to claim 26, further comprising means for generating a signal in response to relative movement with a reference ring gear. 38. The operation signal generating means comprises: (a) a reference ring gear attached to either the inner shell or the outer shell; and (b) attached to the other of the inner shell or the outer shell and interlocking with the reference ring gear. 28. A self-sealing rotary joint as claimed in claim 27, further comprising means for generating a signal in response to relative movement with the reference ring gear. 39. The operation signal generating means comprises: a) a reference ring gear attached to either the inner shell or the outer shell; and b) attached to the other of the inner shell or the outer shell, interlocking with the reference ring gear; , and means for generating a signal in response to relative movement with a reference ring gear. 40. a. an electronic controller; b. at least one rotary joint whose rotary axis is substantially collinear with a central axis of the device manipulator when the manipulator is extended such that the axes of the rotary joint are collinear; , wherein the rotary joint includes: i a structure outer shell; ii a structure inner shell coaxial with the outer shell; and iii a plurality of bearings positioned to allow relative rotation between the outer shell and the inner shell; and iv a reduction gear drive means rigidly fixed to either the outer shell or the outer shell, and c. when the manipulator is in its fully extended position, the axis of rotation is relative to the central axis of the manipulator. at least one pitch joint connected to the at least one revolute joint that is substantially vertical and whose axis of rotation deviates from the central axis when the manipulator is extended and the axes of the revolute joints are collinear; The pitch joint includes: i an ear module, ii a case module, iii a plurality of bearings positioned to allow relative rotation of the ear module and the case module, and iv a reduction gear drive means, and further , d means for attaching one free end of the pitch joint or rotation joint to a base. 41. The multi-jointed industry according to claim 40, wherein all of the rotary joints have substantially the same structure outer shell, inner shell, bearing, and drive means. Manipulator for. 42. The multi-jointed industrial type according to claim 40, wherein all of the pitch joints have substantially the same form of the ear module, the case module, the bearing, and the drive means. Manipulator. 43. The multi-jointed industrial type according to claim 41, wherein all of the pitch joints have substantially the same form of the ear module, the case module, the bearing, and the drive means. Manipulator. 44. Claim 4, wherein each successive pitch joint and rotation joint distal to said base is smaller than said one joint of the same type.
The articulated industrial manipulator described in Section 3. 45. The articulated industrial manipulator as set forth in claim 40, wherein the total number of joints is six or more. 46. The articulated industrial manipulator according to claim 43, wherein the total number of joints is six or more. 47. a at least a first type of self-enclosed power drive joint having an axis of rotation; and b at least a second type of self-enclosed power drive joint having an axis of rotation that is not parallel to the axis of rotation of said first type of joint. all the joints of the first and second types are connected substantially alternately and continuously, and a predetermined joint of the first or second type joint is easily connected to a drive means of an adjacent joint of the opposite type. An articulated manipulator characterized in that the joints of each of the above types are configured so as to be compatible with each other. 48. Configuring each type of joint such that a given joint of the first or second type of joint is provided with a drive means that is easily interchangeable with a similarly configured but opposite type of drive means of different dimensions; An articulated manipulator according to claim 47, characterized in that: 49, a: a member driven by an actuator; b: means for supplying a force command signal; c: at a position on the member, detecting the kinetic force exerted on the member by the actuator, and detecting the force signal of the member; d means for comparing the force command signal with the force signal of the member to generate a force error signal; e means for receiving the force error signal and having a bandwidth extending beyond the resonant frequency of the member; force correction circuitry for correcting the instability and generating an output signal; f means for amplifying the output signal; and g providing the amplified signal to the actuator and responsively providing a force. A servo control device comprising: means. 50. The force command signal means includes: a means for supplying a speed command signal; b detecting the speed of the member at a position on the member;
means for generating a speed signal of the member; c means for comparing the speed command signal with the speed signal of the member and generating a speed error signal; and d receiving the speed error signal and generating a force command signal. 50. The servo control device according to claim 49, further comprising the speed correction circuit network. 51, the speed command signal means includes: (a) means for supplying a position command signal; and (b) detecting the position of the member at a position on the member;
means for generating a position signal for a member; and c comparing the position command signal and the position signal for the member;
51. The servo control device according to claim 50, further comprising means for generating a position error signal. 52. The speed command signal means: a) Generates a digital position error signal by comparing the position of the member detected at a position on the member with the calculated position command, and transmits the position error signal to the computer. Claims characterized by comprising: a digital computer having the function of performing stepwise updating at specified time intervals; and b) means for converting the digital position error signal into a continuous analog speed command signal. The servo control unit device according to item 50. 53. A servo control device according to claim 49, characterized in that said member comprises a pivot joint of a manipulator arm. 54. The servo control device according to claim 50, wherein the member comprises an arm joint of a manipulator. 55. The servo control device according to claim 51, wherein the member comprises an arm joint of a manipulator. 56. The servo control device according to claim 52, wherein the member comprises an arm joint of a manipulator. 57. The servo control device according to claim 49, wherein the force correction circuitry comprises a forwarding circuitry. 58. The servo control device according to claim 51, wherein the force correction circuitry comprises an advance circuitry. 59. The servo control device according to claim 52, wherein the force correction circuitry comprises a forwarding circuitry. 60. The servo control device of claim 56, wherein the force correction circuitry comprises an advance circuitry. 61. The servo control device according to claim 57, characterized in that the advance circuitry is of the type comprising a lead/lag circuitry. 62. A servo control device according to claim 58, characterized in that the lead network is of the type comprising a lead/lag network. 63. The servo control device according to claim 59, characterized in that the lead network is of the type comprising a lead/lag network. 64. A servo control device according to claim 60, characterized in that the lead network is of the type comprising a lead/lag network. 65. The servo control device according to claim 51, wherein the speed correction circuitry includes a delay circuitry. 66. The servo control device according to claim 52, wherein the speed correction circuitry comprises a delay circuitry. 67. The servo control device according to claim 59, wherein the speed correction circuitry includes a delay circuitry. 68. A servo control network according to claim 65, characterized in that said delay network is of the type comprising a lag-lead-lag network. 69. A servo control network according to claim 66, characterized in that said delay network is of the type comprising a lag-lead-lag network. 70. A servo control network according to claim 67, characterized in that said delay network is of the type comprising a lag-lead-lag network. 71, a. providing a force command signal; b. detecting, at a location on the member, a kinetic force applied to the member by the actuator, thereby providing a member force signal; c. comparing the force command signal with the force signal of the member, thereby generating a force error signal; d correcting the force error signal for bandwidth instability extending above the resonant frequency of the member; , resulting in the step of generating an output signal; e amplifying said output signal; and f providing said amplified signal to said actuator and thus exerting a force in response thereto. A method for controlling a device member driven by an actuator, the method comprising: 72, said step of providing said force command signal comprises: a providing a velocity command signal; and b detecting the velocity of said member at a location on said member, thereby generating a member velocity signal. , c comparing the speed command signal and the speed signal of the member;
72. The method of claim 71, comprising the steps of: generating a resulting velocity error signal; and d correcting the velocity error signal to generate a force command signal. 73. The step of providing the speed command signal comprises: a) providing a position command signal; and b detecting the position of the member at a position on the member, thereby generating a member position signal. , c comparing the position command signal and the position signal of the member;
72. The method of claim 71, comprising the step of generating a position error signal as a result.